Development of a Predictive Display Interface to assist control of a Robot Arm in a Telepresence System

Abstract

Operation and maintenance O&M is an expensive but necessary part of almost any industrial endeavor. This becomes even more expensive when the object in need of O&M is located in remote places. This will be the case if you have a wind farm at sea. To get the cost of this down research into using a robot or possibly a robotic arm to do remote O&M has been initiated. This Thesis deals with some of the challenges when it comes to remote presence or telepresence and the use of a robotic arm.Telepresence systems have some unique challenges when it comes to control. The time delay and limits when it comes to field of view has led many to advocate a solution called a Predictive display.Predictive displays lets the user see an immediate response to control input. It does this by simulating the system that is being controlled and then in some way synthesize an image that would show a simulated response.This Thesis is concerned with the development of such a display. The solution proposed here leads to the use of a real time simulator of a robotic arm. In addition to this I have worked with a possible solution for synthesizing the view of the robot by using a game engine to render the robot and its environment.The resulting application as far as the predictive display is concerned leads me to believe that the tools I have used can be used for the purposes described in this thesis.The predictive display method seams like the best alternative when it comes to providing the operator with information about the robot's surroundings. And thus increasing the operator's situational awareness.The report shows how the application can be created and provides you with information on how the solution can be extended.Further, the application created should make it possible to carry out further experiments and help in future developments within this project.